Resources: Modelling and Simulation Lecture Notes.pdf Ch 2.5
We want to describe the dynamics of the system using generalized coordinates (where is the number of degrees of freedom for the system).
- I addition to the ODEs we will need a set of constraint equations on the form .
Why?: This often enables easier formulation for the problem (in terms of equation complexity). This is shown in assignment 6
This gives us a New Lagrangian
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